ros_controllers_cartesian::JointBasedController< HWInterface, HandleType > Class Template Reference

A common base class for joint-based control policies. More...

#include <control_policies.h>

Inheritance diagram for ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >:

Public Member Functions
CartesianState	getState () const
virtual bool	init (hardware_interface::RobotHW *hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh) override
	JointBasedController ()
Public Member Functions inherited from controller_interface::MultiInterfaceController< T >
virtual bool	init (hardware_interface::RobotHW *, ros::NodeHandle &)
	MultiInterfaceController (bool allow_optional_interfaces=false)
Public Member Functions inherited from controller_interface::ControllerBase
virtual void	aborting (const ros::Time &)
virtual void	aborting (const ros::Time &)
bool	abortRequest (const ros::Time &time)
bool	abortRequest (const ros::Time &time)
	ControllerBase ()=default
	ControllerBase (const ControllerBase &)=delete
	ControllerBase (ControllerBase &&)=delete
bool	isAborted () const
bool	isAborted () const
bool	isInitialized () const
bool	isInitialized () const
bool	isRunning () const
bool	isRunning () const
bool	isStopped () const
bool	isStopped () const
bool	isWaiting () const
bool	isWaiting () const
ControllerBase &	operator= (const ControllerBase &)=delete
ControllerBase &	operator= (ControllerBase &&)=delete
virtual void	starting (const ros::Time &)
virtual void	starting (const ros::Time &)
bool	startRequest (const ros::Time &time)
bool	startRequest (const ros::Time &time)
virtual void	stopping (const ros::Time &)
virtual void	stopping (const ros::Time &)
bool	stopRequest (const ros::Time &time)
bool	stopRequest (const ros::Time &time)
virtual void	update (const ros::Time &time, const ros::Duration &period)=0
virtual void	update (const ros::Time &time, const ros::Duration &period)=0
void	updateRequest (const ros::Time &time, const ros::Duration &period)
void	updateRequest (const ros::Time &time, const ros::Duration &period)
virtual void	waiting (const ros::Time &)
virtual void	waiting (const ros::Time &)
bool	waitRequest (const ros::Time &time)
bool	waitRequest (const ros::Time &time)
virtual	~ControllerBase ()=default

Protected Attributes
std::unique_ptr< KDL::ChainFkSolverVel_recursive >	fk_solver_
std::vector< HandleType >	joint_handles_
std::string	robot_base_
KDL::Chain	robot_chain_
std::string	robot_tip_
Protected Attributes inherited from controller_interface::MultiInterfaceController< T >
bool	allow_optional_interfaces_
hardware_interface::RobotHW	robot_hw_ctrl_

Additional Inherited Members
Public Types inherited from controller_interface::ControllerBase
typedef std::vector< hardware_interface::InterfaceResources >	ClaimedResources
Public Attributes inherited from controller_interface::ControllerBase
	ABORTED
	CONSTRUCTED
	INITIALIZED
	RUNNING
enum controller_interface::ControllerBase:: { ... }	state_
	STOPPED
	WAITING
Protected Member Functions inherited from controller_interface::MultiInterfaceController< T >
bool	initRequest (hardware_interface::RobotHW *robot_hw, ros::NodeHandle &root_nh, ros::NodeHandle &controller_nh, ClaimedResources &claimed_resources) override
Static Protected Member Functions inherited from controller_interface::MultiInterfaceController< T >
static void	clearClaims (hardware_interface::RobotHW *robot_hw)
static void	extractInterfaceResources (hardware_interface::RobotHW *robot_hw_in, hardware_interface::RobotHW *robot_hw_out)
static bool	hasRequiredInterfaces (hardware_interface::RobotHW *robot_hw)
static void	populateClaimedResources (hardware_interface::RobotHW *robot_hw, ClaimedResources &claimed_resources)

Detailed Description

template<class HWInterface, class HandleType>
class ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >

A common base class for joint-based control policies.

Template Parameters

HWInterface	The hardware interface for joint actuation
HandleType	The type of joint handles to use.

Definition at line 67 of file control_policies.h.

Constructor & Destructor Documentation

JointBasedController()

template<class HWInterface, class HandleType>

ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::JointBasedController ( )

inline

Definition at line 70 of file control_policies.h.

Member Function Documentation

getState()

template<class HWInterface , class HandleType >

CartesianState ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::getState

(

)

const

Definition at line 121 of file control_policies.hpp.

init()

template<class HWInterface , class HandleType >

bool ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::init ( hardware_interface::RobotHW *  hw, ros::NodeHandle &  root_nh, ros::NodeHandle &  controller_nh  )

overridevirtual

Reimplemented from controller_interface::MultiInterfaceController< T >.

Reimplemented in ros_controllers_cartesian::ControlPolicy< hardware_interface::JointStateInterface >, ros_controllers_cartesian::ControlPolicy< hardware_interface::VelocityJointInterface >, and ros_controllers_cartesian::ControlPolicy< hardware_interface::PositionJointInterface >.

Definition at line 52 of file control_policies.hpp.

Member Data Documentation

fk_solver_

template<class HWInterface, class HandleType>

std::unique_ptr<KDL::ChainFkSolverVel_recursive> ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::fk_solver_

protected

Definition at line 78 of file control_policies.h.

joint_handles_

template<class HWInterface, class HandleType>

std::vector<HandleType> ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::joint_handles_

protected

Definition at line 77 of file control_policies.h.

robot_base_

template<class HWInterface, class HandleType>

std::string ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::robot_base_

protected

Definition at line 80 of file control_policies.h.

robot_chain_

template<class HWInterface, class HandleType>

KDL::Chain ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::robot_chain_

protected

Definition at line 79 of file control_policies.h.

robot_tip_

template<class HWInterface, class HandleType>

std::string ros_controllers_cartesian::JointBasedController< HWInterface, HandleType >::robot_tip_

protected

Definition at line 81 of file control_policies.h.

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The documentation for this class was generated from the following files:

• control_policies.h
• control_policies.hpp